Holding system and control device

Abstract

To inhibit an object to be held from scattering to the outside of a storage container when performing holding by a robot.SOLUTION: A gripping system 1 includes: a multi-articulated robot 30 equipped with a gripping member 31a; and a control device 10 for controlling an operation of the multi-articulated robot 30. The control device 10 causes the multi-articulated robot 30 to execute a first operation in which a probability that ingredients are scattered from the gripping member 31a in accordance with the execution of the operation is a first probability and a second operation in which the probability that the ingredients are scattered from the gripping member 31a in accordance with the execution of the operation is a second probability which is higher than the first probability, as operations regarding gripping by the gripping member 31a with respect to the ingredients stored in the storage container 20. In addition, the control device 10 controls the multi-articulated robot 30 such that a position of the gripping member 31a when executing the second operation is lower than a position of the gripping member 31a when executing the first operation.SELECTED DRAWING: Figure 1

Claims

1. A holding system including a robot having a holding member that opens and closes horizontally, and a control device that controls the operation of the robot, The control device includes: As an operation related to holding an object contained in a container by the holding member, a first motion in which there is a first possibility that the object will scatter from the holding member when the motion is performed; a second action having a second possibility that the object will fly off the holding member when the action is performed, the second possibility being higher than the first possibility; and At least one of a gripping operation, a gripping amount adjustment operation, a removal operation, a transfer operation involving rotation or high-speed movement, a rotation operation, and a release operation is treated as the second operation; controlling the robot so that a position of the holding member when performing the second operation is set to a position within the storage space of the storage container that is lower than a position of the holding member when performing the first operation and is lower than a height of an opening surface of the storage container; A retention system comprising:

2. A holding system including a robot having a holding member and a control device that controls an operation of the robot, The control device includes: As an operation related to holding an object contained in a container by the holding member, a first motion in which there is a first possibility that the object will scatter from the holding member when the motion is performed; a second action having a second possibility that the object will fly off the holding member when the action is performed, the second possibility being higher than the first possibility; and At least one of a removing operation, a transporting operation involving rotation or high-speed movement, and a rotating operation is treated as the second operation; controlling the robot so that a position of the holding member when performing the second operation is set to a position within the storage space of the storage container that is lower than a position of the holding member when performing the first operation and is lower than a height of an opening surface of the storage container; A retention system comprising:

3. The control device includes: When the height of the opening surface of the storage container is changed, the position of the holding member when performing the second operation is also changed.

3. A retention system according to claim 1 or 2.

4. The position of the holding member is a position from which the object starts to scatter from the holding member to the outside of the storage container.

3. A retention system according to claim 1 or 2.

5. The control device includes: When a horizontal surface of the container is divided into a plurality of regions, a height of a position of the holding member when the second operation is performed is varied based on which region the second operation is performed in.

3. A retention system according to claim 1 or 2.

6. The control device includes: a moving speed of the holding member when the second operation is performed is varied based on a state in which the object is contained in the container; 3. A retention system according to claim 1 or 2.

7. A control device comprising a control means for controlling an operation of a holding system comprising a robot having a holding member, The control means As an operation related to holding an object contained in a container by the holding member, a first motion in which there is a first possibility that the object will scatter from the holding member when the motion is performed; a second action having a second possibility that the object will fly off the holding member when the action is performed, the second possibility being higher than the first possibility; and At least one of a removing operation, a transporting operation involving rotation or high-speed movement, and a rotating operation is treated as the second operation; controlling components of the holding system so that a position of the holding member when performing the second operation is a position within the storage space of the storage container that is lower than a position of the holding member when performing the first operation and is lower than a height of an opening surface of the storage container; A control device comprising:

8. The components are: Either a robot including the holding member or a lifting mechanism for raising and lowering the storage container, The control device according to claim 7 .

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